#!/usr/bin/env python
import rospy
import tf
import transforms3d as tfs
import geometry_msgs.msg
import sys
import numpy as np
import transforms3d as tfs
import math
from tf2_msgs.msg import TFMessage
  

if __name__ == '__main__':
    rospy.init_node('static_pose_publisher')   

    listener = tf.TransformListener()
    br = tf.TransformBroadcaster()  

    rate = rospy.Rate(1.0)
    while not rospy.is_shutdown():
        try:
            (trans2,rot2) = [-0.055553840834826444, 0.07756284205885501, 2.008274864305003], [-0.34091233686168065, -0.9385179693592665, 0.029445003154180218, -0.04577981601663516]
            br.sendTransform(trans2,rot2,rospy.Time.now(),"my_camera","base_link")
            print("base_link->my_camera",trans2,rot2)
        except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
            continue

        rate.sleep()
